#ifndef TOPIC_TRANSFORM_CORE_H
#define TOPIC_TRANSFORM_CORE_H

#include "ros/ros.h"
#include "sensor_msgs/PointCloud2.h"

#define __APP_NAME__ "topic_transform"


class TopicTransform{
    public:
        TopicTransform();
        ~TopicTransform();
        void run();
    
    private:
        ros::NodeHandle nh_;
        ros::NodeHandle private_nh_;

    private:
        std::string input_topic;
        // std::string input_topic_frame_id;
        std::string output_topic;
        std::string output_topic_frame_id;

    private:
        ros::Subscriber topic_transform_input_sub_;
        ros::Publisher topic_transform_output_pub_;
    
    private:
        void topic_transform_callback(const::sensor_msgs::PointCloud2::ConstPtr& msg);

};



#endif

